🚀 Visual SLAM-Based Indoor Mobile Robot Navigation System

An autonomous indoor mobile robot navigation system based on ROS2 Humble, RTAB-Map, and Navigation2 (Nav2).

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📖 Overview

This project presents a complete autonomous indoor mobile robot navigation system that integrates Visual SLAM, localization, mapping, and autonomous navigation into a single ROS2 framework.

The system utilizes multiple sensors including an RGB-D camera, LiDAR, IMU, and wheel encoders to achieve reliable perception and navigation in indoor environments.

Main technologies:

• ROS2 Humble
• RTAB-Map
• Navigation2 (Nav2)
• Gazebo
• RViz2
• EKF Sensor Fusion
• Python
• C++

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✨ Features

• ✅ Real-time Visual SLAM
• ✅ Autonomous Navigation
• ✅ 2D / 3D Mapping
• ✅ Localization using RTAB-Map
• ✅ Waypoint Navigation
• ✅ Web-based Robot Monitoring
• ✅ EKF Sensor Fusion
• ✅ LiDAR + RGB-D Camera Fusion
• ✅ Gazebo Simulation
• ✅ RViz Visualization

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🏗️ System Architecture

Software Architecture

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Hardware Connection Diagram

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🤖 Robot Platform

Hardware

• Intel RealSense D455 RGB-D Camera
• LiDAR
• IMU
• Wheel Encoder
• Jetson Orin NX

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💻 Software Stack

• Ubuntu 22.04
• ROS2 Humble
• RTAB-Map
• Navigation2 (Nav2)
• Gazebo
• RViz2
• Python
• C++

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📂 Project Structure

mobile/
│
├── config/
├── launch/
├── map/
├── meshes/
├── models/
├── read_velocity/
├── run_file/
├── rviz/
├── scripts/
├── urdf/
└── world/

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🗺 Mapping

Web Mapping Interface

2D Mapping (Simulation)

2D Mapping (Real Robot)

3D Mapping (Simulation)

3D Mapping (Real Robot)

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🧭 Navigation

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🖥 Dashboard

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🌐 Web Interface

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📍 Route Monitoring

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📡 RViz2

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⚙ Installation

cd ~/ros2_ws/src

git clone https://github.com/tranquykien/visual-slam-navigation.git

cd ..

colcon build

source install/setup.bash

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▶ Usage

Launch the complete robot system

ros2 launch mobile bring_up.launch.py

Launch Navigation2

ros2 launch mobile nav2.launch.py

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📹 Demo

Coming soon...

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📚 Future Improvements

• Multi-floor navigation
• Dynamic obstacle avoidance
• Multi-robot coordination
• Semantic mapping
• AI-based object detection integration

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👨‍💻 Author

Kien Tran

Robotics Engineer

GitHub: https://github.com/tranquykien